A three-degree-of-freedom dexterous wrist structure based on wire actuation

Abstract

The invention discloses a three-degree-of-freedom dexterous wrist structure based on wire drive, which includes a wrist top cover assembly, a universal joint, a wrist chassis assembly, and a bevel gear. The wrist top cover assembly consists of an output shaft, a wrist Top cover, wrist top cover pulley assembly and thrust bearing, wrist chassis assembly is composed of input shaft, wrist chassis pulley assembly and thrust bearing, wrist top cover pulley assembly and wrist chassis pulley assembly are composed of pulley assemblies, It includes a steel cable fixing bracket, a pulley bracket, a three-pulley bracket, a pulley bracket top cover and pulleys. The present invention has a compact overall structure, does not need to install devices such as drive motors and reducers on the wrist, has small mass and inertia, and has good flexibility, and is very suitable for applications with low load and high speed response.

Description

technical field [0001] The invention belongs to the technical field of robots, and specifically provides a three-degree-of-freedom dexterous wrist structure based on wire drive. Background technique [0002] The wrist of the robot is the part where the robot installs the end effector. It is usually installed at the end of the robot. Therefore, the quality and size of the wrist are the key issues that need to be considered. It often adopts a compact structure and reasonable degrees of freedom. The robot wrist generally has three degrees of freedom: roll, pitch and yaw. [0003] Some robot wrists are driven by motor accelerators and decelerators. The weight of the motors and reducers are all added to the robot wrists, resulting in a large mass and moment of inertia of the robot wrists, usually large volume, and low flexibility. There are also some robot wrists that transmit power through gears, and the quality of the gears is also very heavy, which also causes the weight and ...

AI Technical Summary

Problems solved by technology

[0003] Some robot wrists are driven by motor accelerators and decelerators. The weight of the motors and reducers are all added to the robot’s wrists, resulting in a large mass and moment of inertia of the robot’s wrists, which are usually large in size and not very flexible.

There are also some robot wrists that transmit power through gears, and the quality of the gears is also very heavy, which also leads to a large weight and moment of inertia of the entire wrist

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